def publish(self, topic, message):
if topic in self.subscriptions:
for thread in self.subscriptions[topic]:
_thread.notify(thread, _thread.RESUME) # Resume the task
_thread.sendmsg(thread, json.dumps({"topic": topic, "message": message})) # Encode topic and message
# Publish every message to the wildcard topic
if "*" in self.subscriptions:
for thread in self.subscriptions["*"]:
_thread.notify(thread, _thread.RESUME) # Resume the task
_thread.sendmsg(thread, json.dumps({"topic": topic, "message": message})) # Encode topic and message
def thrainbow():
pos = 0
np.brightness(25)
while True:
np.rainbow(pos, 3)
notif = _thread.getnotification()
if (notif > 0) and (notif <= 100):
np.brightness(math.trunc(notif * 2.55))
elif notif == 1000:
_thread.sendmsg(_thread.getReplID(), "[%s] Run counter = %u" % (_thread.getSelfName(), pos))
pos = pos + 1
def thrainbow_py():
pos = 0
bri = 0.02
while True:
for i in range(0, num_np):
dHue = 360.0/num_np * (pos+i);
hue = dHue % 360;
np.setHSB(i, hue, 1.0, bri, 1, False)
np.show()
notif = _thread.getnotification()
if (notif > 0) and (notif <= 100):
bri = notif / 100.0
elif notif == 1000:
_thread.sendmsg(_thread.getReplID(), "[%s] Run counter = %u" % (_thread.getSelfName(), pos))
pos = pos + 1
def _httpHandlerPost(httpClient, httpResponse) :
# read posted form data. If data (dictionary) received, convert to string and send threadMessage to mainThread
formData = httpClient.ReadRequestPostedFormData()
if formData:
print(formData)
message = str(formData)
_thread.sendmsg(_thread.getReplID(), message)
# get system time and save it t datetime_dict
datetime = utime.localtime()
#print(datetime)
datetime_dict = { "year" : datetime[0], "month" : datetime[1], "mday" : datetime[2],
"hour": datetime[3], "minute" : datetime[4], "second" : datetime[5],
"weekday" : datetime[6], "yearday" : datetime[7]}
htmlSite = htmlSite.format(**datetime_dict)
# send htmlSite as response to client
httpResponse.WriteResponseOk( headers = ({'Cache-Control': 'no-cache'}),
contentType = 'text/html',
contentCharset = 'UTF-8',
content = htmlSite)
def test():
i = 0
while i<10:
i=i+1
print("Hello from thread")
print(_thread.getSelfName())
mainID = _thread.getReplID()
print(mainID)
print(_thread.getmsg())
print(_thread.wait())
while _thread.wait() :
#_thread.sendmsg(mainID, i)
time.sleep(2)
thrID = _thread.start_new_thread("test",test,())
_thread.sendmsg(thrID, 5)
_thread.getmsg()
_thread.list()
_thread.notify(thrID, 1)
#k=_thread.start_new_thread("testThr",testThread,(1,))
_thread.start_new_thread(testThread())
k=0
while k<15:
k=k+1
time.sleep(1)
print("Hello from main")
pass
def bmerun(interval=60):
_thread.allowsuspend(True)
sendmsg = True
send_time = time.time() + interval
while True:
while time.time() < send_time:
notif = _thread.getnotification()
if notif == 10002:
_thread.sendmsg(_thread.getReplID(), bmevalues())
elif notif == 10004:
sendmsg = False
elif notif == 10006:
sendmsg = True
elif (notif <= 3600) and (notif >= 10):
interval = notif
send_time = time.time() + interval
_thread.sendmsg(_thread.getReplID(), "Interval set to {} seconds".format(interval))
time.sleep_ms(100)
send_time = send_time + interval
if sendmsg:
_thread.sendmsg(_thread.getReplID(), bmevalues())
def rgbled(n=200, led=bled):
notif_exit = 4718
notif_replay = 2
notif_count = 3
x = 0
_thread.allowsuspend(True)
while True:
led.value(1)
time.sleep_ms(n)
led.value(0)
x = x + 1
t = 10
while t > 0:
notif = _thread.getnotification()
if notif == notif_exit:
_thread.sendmsg(_thread.getReplID(),
"[%s] Exiting" % (_thread.getSelfName()))
return
elif notif == notif_replay:
_thread.sendmsg(
_thread.getReplID(),
"[%s] I've been notified" % (_thread.getSelfName()))
elif notif == notif_count:
_thread.sendmsg(
_thread.getReplID(),
"[%s] Run counter = %u" % (_thread.getSelfName(), x))
elif notif == 777:
_thread.sendmsg(
_thread.getReplID(),
"[%s] Forced EXCEPTION" % (_thread.getSelfName()))
time.sleep_ms(1000)
zz = 234 / 0
elif notif != 0:
_thread.sendmsg(
_thread.getReplID(), "[%s] Got unknown notification: %u" %
(_thread.getSelfName(), notif))
typ, sender, msg = _thread.getmsg()
if msg:
_thread.sendmsg(
_thread.getReplID(), "[%s] Message from '%s'\n'%s'" %
(_thread.getSelfName(), _thread.getThreadName(sender),
msg))
time.sleep_ms(100)
t = t - 1
gc.collect()
def th_cam_to_motor(threads: dict, thctm_values: dict, m, config: dict):
_thread.allowsuspend(True)
cur_name = _thread.getSelfName()
cur_id = threads[cur_name]
print("{}: started with id {}".format(cur_name.upper(), cur_id))
while True:
"""Notification Handling"""
ntf = _thread.getnotification()
if ntf:
if ntf == _thread.EXIT:
print("{}: terminated".format(cur_name.upper()))
return
elif ntf == _thread.SUSPEND:
print("{}: suspended".format(cur_name.upper()))
m.stop()
# wait for RESUME notification indefinitely, some other thread must
# send the resume notification: _thread.notify(th_id, _thread.RESUME)
while _thread.wait() != _thread.RESUME:
pass
print("{}: resumed".format(cur_name.upper()))
else:
# Default notification handling
pass
# ---------------------------------------------------------------
# - Using sleep in thread function -
# ---------------------------------------------------------------
# 'utime.sleep(sec, True)' & 'utime.sleep_ms(ms, True)' functions returns the
# actual ellapsed sleep time. The sleep will be interrupted if
# a notification is received and the returned value will be less
# than the requested one
# ---------------------------------------------------------------
# Example:
# print("TH_FUNC: Loop started")
# for i in range(0, 5):
# print("TH_FUNC: Loop no:", i)
# sleep_time = utime.sleep_ms(10000, True)
# if sleep_time < 10000:
# # Notification received while sleeping
# print("TH_FUNC: Notification while sleeping", st)
# # Sleep for the remaining interval if needed
# utime.sleep_ms(10000 - sleep_time)
# print("TH_FUNC: Loop ended")
# ===================================================================================
# Handle inter thread message
# Sender thread ID, message type (string or integer) and message itself are available
# ===================================================================================
""
# <MAIN CODE>
"""Line Parsing and Motor controlling"""
line_angle = thctm_values["line"][1]
line_type = thctm_values["line"][0]
l_value = r_value = config["drive_speed"]
if line_type == CUART.ltype_straight:
x = line_angle
# l_value = constrain(maprange([-90, 0], [0, config["drive_speed"]], line_angle), 0, config["drive_speed"])
# r_value = constrain(maprange([0, 90], [config["drive_speed"], 0], line_angle), 0, config["drive_speed"])
l_value = int(0.0006911 * x * x * x - 0.011111 * x * x +
0.044657 * x + 20)
r_value = int(-0.0006911 * x * x * x - 0.011111 * x * x -
0.044657 * x + 20)
# print(l_value, r_value)
m.move(l_value, r_value)
# </MAIN CODE>
"""Message handling"""
typ, sender, msg = _thread.getmsg()
if msg:
if typ == 1 and msg == thr_msg.HEARTBEAT:
_thread.sendmsg(sender, thr_msg.HEARTBEAT)
# else:
# _thread.sendmsg(threads["log"], "[%s] Received message from '%s'\n'%s'" % (
# _thread.getSelfName(), _thread.getThreadName(sender), msg))
utime.sleep_ms(10) # Weird bug (was 10 before, trying to minimize)
def th_func(threads: dict):
# ------------------------------------------------------------
# Allow suspending this thread from other threads using
# _thread.suspend(th_id) / _thread.resume(th_id) functions.
# If not set, the thread connot be suspended.
# Still, "soft" suspend handling via notifications can be used
# ------------------------------------------------------------
_thread.allowsuspend(True)
cur_name = _thread.getSelfName()
cur_id = threads[cur_name]
print("{}: started with id {}".format(cur_name.upper(), cur_id))
# ---------------------------------------------
# Thread function usually runs in infinite loop
# ---------------------------------------------
while True:
# ================================================
# It is recommended to handle thread notifications
# ================================================
ntf = _thread.getnotification()
if ntf:
# some notification received
if ntf == _thread.EXIT:
# -------------------------------------------------
# Return from thread function terminates the thread
# -------------------------------------------------
print("{}: terminated".format(cur_name.upper()))
return
elif ntf == _thread.SUSPEND:
# -------------------------------------------------------------------
# The thread can be suspended using _thread.suspend(th_id) function,
# but sometimes it is more convenient to implement the "soft" suspend
# -------------------------------------------------------------------
print("{}: suspended".format(cur_name.upper()))
# wait for RESUME notification indefinitely, some other thread must
# send the resume notification: _thread.notify(th_id, _thread.RESUME)
while _thread.wait() != _thread.RESUME:
pass
print("{}: resumed".format(cur_name.upper()))
# ---------------------------------------------
# Handle the application specific notifications
# ---------------------------------------------
elif ntf == 1234:
# Your notification handling code
pass
else:
# -----------------------------
# Default notification handling
# -----------------------------
pass
# ----------------------------------
# Put your thread function code here
# ----------------------------------
# ---------------------------------------------------------------------------
# Thread function execution can be suspended until a notification is received
# Without argument '_thread.wait' will wait for notification indefinitely
# If the timeout argument is given, the function will return even if
# no notification is received after the timeout expires with result 'None'
# ---------------------------------------------------------------------------
# ntf = _thread.wait(30000)
# if ntf:
# # --------------------------------------------
# # Check if terminate notification was received
# # --------------------------------------------
# if ntf == _thread.EXIT:
# return
# #print("TH_FUNC: Notification received: ", ntf)
#
# # ---------------------------------------------
# # Execute some code based on notification value
# # ---------------------------------------------
# if ntf == 77:
# print("Notification 77 received")
# elif ntf == 8888:
# myvar += 100
# else:
# # ---------------------------------
# # Execute some code on wait timeout
# # ---------------------------------
# print("TH_FUNC: Wait notification timeout")
# ---------------------------------------------------------------
# - Using sleep in thread function -
# ---------------------------------------------------------------
# 'utime.sleep(sec, True)' & 'utime.sleep_ms(ms, True)' functions returns the
# actual ellapsed sleep time. The sleep will be interrupted if
# a notification is received and the returned value will be less
# than the requested one
# ---------------------------------------------------------------
# Example:
# print("TH_FUNC: Loop started")
# for i in range(0, 5):
# print("TH_FUNC: Loop no:", i)
# sleep_time = utime.sleep_ms(10000, True)
# if sleep_time < 10000:
# # Notification received while sleeping
# print("TH_FUNC: Notification while sleeping", st)
# # Sleep for the remaining interval if needed
# utime.sleep_ms(10000 - sleep_time)
# print("TH_FUNC: Loop ended")
# ===================================================================================
# Handle inter thread message
# Sender thread ID, message type (string or integer) and message itself are available
# ===================================================================================
typ, sender, msg = _thread.getmsg()
if msg:
# -------------------------------------
# message received from 'sender' thread
# -------------------------------------
if typ == 1 and msg == thr_msg.HEARTBEAT:
# Reply to sender, we can analyze the message first
_thread.sendmsg(sender, thr_msg.HEARTBEAT)
else:
# We can inform the main MicroPython thread (REPL) about received message
_thread.sendmsg(
threads["log"], "[%s] Received message from '%s'\n'%s'" %
(_thread.getSelfName(), _thread.getThreadName(sender),
msg))
def keyUp(key):
sendmsg(threads.UI, key)
def keyDown(key):
sendmsg(threads.UI, _KEYDOWN | key)
def rawKeyUp(key):
sendmsg(threads.UI, _RAWKEY | key)
def rawKeyDown(key):
sendmsg(threads.UI, _KEYDOWN | _RAWKEY | key)
